
P3P Standard P3P absolute pose calculation from three 2D-3D point observations. We used the state-of-the-art Lambda Twist P3P solver [1]}.

P3P (1AC) Lambda Twist P3P solver on PCs generated from a single AC (Section REF ).

P1AC (Null) Our solver using the nullspace solution (Section REF ).

P1AC (3Q3) Our solver using the Cayley rotation parameterization and 3Q3 solver (Section REF ).

